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--- tutorials:open_coroco_hardware [2019/03/22 16:53] – bcarrillo
+++ tutorials:open_coroco_hardware [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
 ====== Open-COROCO hardware for motor control ======
-**Description**
+**Description**\\
-Open `CO`mpliance `RO`bot `CO`ntroler is the ARCOS-Lab's project with the goal to endow at the
+''Open **CO**mpliance **RO**bot **CO**ntroler'' is the ARCOS-Lab's project with the goal to endow at the
 omnidirectional base of the humanoid robot, with the ability to be soft with the environment. To achieve
-this abitity an impedance motor controller is required.
+this abitity an impedance motor controller is required.\\
+The sandwich of the project ''OPEN-COROCO'' is made of 2 pcb drivers and a microcontroller. The microcontroller STM32F4 process the information from pcb drivers and it's the supply of 3.3v and 5V to the system. The resolver pcb send information about velocity and position from the synchronous motor to microcontroller and generates the excitation's signal to resolver's motor. The Inverter pcb process sensing torque information from strain gauges and it's the motor's power supply of 48 V.
+**Resolver**\\
+**Inverter**\\
+**ToDO**\\
+*Re-check text\\
+*Add a sandwich's picture\\
+*functional blocks (both pcb drivers)\\
-**ToDO**